casadi 3.6.7__cp313-none-macosx_10_13_x86_64.macosx_10_13_intel.whl

casadi/include/superscs/scs_blas.h

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+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * 
+ */
+#ifndef SCS_BLAS_H_GUARD
+#define SCS_BLAS_H_GUARD
+
+#ifdef LAPACK_LIB_FOUND
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Default to underscore for blas / lapack */
+#ifndef BLASSUFFIX
+#define BLASSUFFIX _
+#endif
+
+/* annoying hack because some preprocessors can't handle empty macros */
+#if defined(NOBLASSUFFIX) && NOBLASSUFFIX > 0
+/* single or double precision */
+#ifndef FLOAT
+#define BLAS(x) d##x
+#else
+#define BLAS(x) s##x
+#endif
+#else
+/* this extra indirection is needed for BLASSUFFIX to work correctly as a
+ * variable */
+#define stitch_(pre, x, post) pre##x##post
+#define stitch__(pre, x, post) stitch_(pre, x, post)
+/* single or double precision */
+#ifndef FLOAT
+#define BLAS(x) stitch__(d, x, BLASSUFFIX)
+#else
+#define BLAS(x) stitch__(s, x, BLASSUFFIX)
+#endif
+#define LPCK BLAS
+#endif
+
+#ifdef MATLAB_MEX_FILE
+typedef ptrdiff_t blasint;
+#elif defined BLAS64
+#include <stdint.h>
+typedef int64_t blasint;
+#else
+typedef int blasint;
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* LAPACK_LIB_FOUND */
+
+#endif /* SCS_BLAS_H_GUARD */

casadi/include/superscs/scs_parser.h

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+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * 
+ */
+#ifndef SCS_PARSER_H_GUARD
+#define SCS_PARSER_H_GUARD
+
+#if !(defined _WIN32 || defined _WIN64 || defined _WINDLL || defined __APPLE__)
+#ifdef _POSIX_C_SOURCE
+#undef _POSIX_C_SOURCE
+#endif
+#define _POSIX_C_SOURCE 199309L
+#endif
+
+#include "glbopts.h"
+#include <string.h>
+#include "cones.h"
+#include "linAlg.h"
+#include "linSys.h"
+#include "util.h"
+#include "ctrlc.h"
+#include "constants.h"
+#include <math.h>
+#include <stdio.h>
+#include <time.h>
+#include "scs.h"
+#include "linsys/amatrix.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    /**
+     * Length of character arrays in #ScsConicProblemMetadata.
+     */
+#define SCS_METADATA_TEXT_SIZE 1024
+
+    /**
+     * \brief Metadata for conic optimization problems.
+     * 
+     * All fields of this structure are character arrays of a fixed length, 
+     * equal to #SCS_METADATA_TEXT_SIZE.
+     * 
+     * \sa scs_to_YAML
+     * \sa scs_from_YAML
+     */
+    struct scs_conic_probem_metadata {
+        /**
+         * \brief Unique identifier of the conic problem.
+         * 
+         * This can be, for example, a URI.
+         */
+        char id[SCS_METADATA_TEXT_SIZE];
+        /**
+         * \brief Problem name.
+         */
+        char problemName[SCS_METADATA_TEXT_SIZE];
+        /**
+         * \brief License of the problem data.
+         * 
+         * If applicable, link (URL) to a license.
+         */
+        char license[SCS_METADATA_TEXT_SIZE];
+        /**
+         * \brief Creator of the problem.
+         */
+        char creator[SCS_METADATA_TEXT_SIZE];
+        /**
+         * \brief YAML version.
+         */
+        char yamlVersion[SCS_METADATA_TEXT_SIZE];
+        /**
+         * \brief Creation date.
+         */
+        char date[SCS_METADATA_TEXT_SIZE];
+    };
+    
+    typedef struct scs_conic_probem_metadata ScsConicProblemMetadata;
+
+    /**
+     * \brief Initializes a #ScsConicProblemMetadata structure.
+     * 
+     * This function creates and initializes a #ScsConicProblemMetadata structure. 
+     * It sets the problem name to a given value and initializes all other
+     * fields with their default values as follows:
+     * 
+     * - \ref ScsConicProblemMetadata.id "id": URI of the problem which is <code>%http://superscs.org/problem/{problemName}</code>
+     * - \ref ScsConicProblemMetadata.date "date": current date
+     * - \ref ScsConicProblemMetadata.license "license": URL of <a href="https://github.com/kul-forbes/scs/blob/master/LICENSE.txt">SuperSCS's license</a>
+     * - \ref ScsConicProblemMetadata.yamlVersion "yamlVersion": 1.2
+     * - \ref ScsConicProblemMetadata.creator "creator": the \ref #scs_version "current SuperSCS version"
+     * 
+     * @param problemName problem name
+     * @return New instance of #ScsConicProblemMetadata
+     * 
+     * \sa #scs_to_YAML
+     */
+    ScsConicProblemMetadata * scs_init_conic_problem_metadata(const char * problemName);
+
+
+    /**
+     * Parses a YAML file and constructs/initialises the corresponding #ScsData and #ScsCone
+     * objects.
+     * 
+     * Example of use:
+     * 
+     * ~~~~~
+     * ScsData * data;
+     * ScsCone * cone;
+     * const char * filepath = "matlab/scs-yaml/example.yml";
+     * int status = scs_from_YAML(filepath, &data, &cone);
+     * if (status != 0) { 
+     *  // handle failure
+     * }
+     * // use `data` and `cone` ...
+     * // at the end don't forget to call `scs_free_data_cone`
+     * scs_free_data_cone(data, cone);
+     * ~~~~~
+     * 
+     * @param filepath Absolute or relative path to YAML file
+     * @param data pointer-to-pointer to a #ScsData object. This function will 
+     * initialise `data` using the YAML file.
+     * @param cone pointer-to-pointer to a #ScsCone object. This function will 
+     * initialise `cone` using the YAML file.
+     * @return status code; returns \c 0 if parsing has succeeded; a positive
+     * error code otherwise. 
+     * 
+     * \sa #scs_to_YAML
+     * \sa \ref page_save_load "Saving and loading problems" (detailed documentation)
+     */
+    scs_int scs_from_YAML(const char * filepath,
+            ScsData ** data,
+            ScsCone ** cone);
+
+    /**
+     * 
+     * @param filepath relative or absolute path to a file which this function 
+     * will create. 
+     * 
+     * The caller must have the necessary permissions to create the
+     * file, otherwise the method returns the error code \c 101.
+     * 
+     * @param metadata problem metadata which can be created using #scs_init_conic_problem_metadata
+     * @param data pointer to exisint non-null #ScsData object
+     * @param cone pointer to exisint non-null #ScsCone object
+     * @return this function returns \c 0 on success and a positive status code
+     * otherwise.
+     * 
+     * \sa #scs_from_YAML
+     * \sa ScsConicProblemMetadata
+     * \sa \ref page_save_load "Saving and loading problems" (detailed documentation)
+     */
+    scs_int scs_to_YAML(
+            const char * RESTRICT filepath,
+            ScsConicProblemMetadata * metadata,
+            const ScsData * RESTRICT data,
+            const ScsCone * RESTRICT cone);
+
+
+
+#ifdef __cplusplus
+}
+#endif
+#endif

casadi/include/superscs/unit_test_util.h

@@ -0,0 +1,210 @@
+/*
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Pantelis Sopasakis (https://alphaville.github.io),
+ *                    Krina Menounou (https://www.linkedin.com/in/krinamenounou), 
+ *                    Panagiotis Patrinos (http://homes.esat.kuleuven.be/~ppatrino)
+ * Copyright (c) 2012 Brendan O'Donoghue (bodonoghue85@gmail.com)
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ * 
+ */
+
+#ifndef UNITTESTS_H
+#define UNITTESTS_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "glbopts.h"
+#include <math.h>
+#include "linAlg.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef bool
+#undef bool
+#endif
+
+#ifdef true
+#undef true
+#endif
+
+#ifdef false
+#undef false
+#endif
+
+    typedef int bool;
+#define true 1
+#define false 0
+
+
+    int number_of_assertions;
+
+#define TEST_SUCCESS 0 /**< test is successful */
+#define TEST_FAILURE 1 /**< test fails */
+#define MESSAGE_OK "OK" /**< a message returned when a test is successful */
+#define TEST_PASS_FLAG "\x1B[92m[PASS]\x1B[39m " /**< flag for PASS */
+#define TEST_FAIL_FLAG "\x1B[31m<FAIL>\x1B[39m " /**< flag for FAIL */   
+#define TEST_MESSAGE_BUFF_SIZE 500
+#define TEST_ERROR_MESSAGE_SIZE 100
+    /**
+     * Fails with a given message.
+     */
+#define FAIL_WITH_MESSAGE(str, message)\
+        *str = (char*)(message);\
+        return TEST_FAILURE
+
+
+#define ASSERT_TRUE_OR_FAIL(p, str, message)\
+    number_of_assertions++;\
+    if (!(p)) { \
+        FAIL_WITH_MESSAGE((str), (message));\
+    }
+
+    /**
+     * Check whether two integers are equal, or fail with a given message.
+     */
+#define ASSERT_EQUAL_INT_OR_FAIL(val, expected, str, message)\
+        number_of_assertions++;\
+        if (!scs_assert_equals_int((val),(expected))) { \
+          {\
+           char buff[TEST_MESSAGE_BUFF_SIZE];\
+           char error_msg[TEST_ERROR_MESSAGE_SIZE];\
+           sprintf(error_msg, "\n\tExpected: %d, Actual %d", expected, val);\
+           strncpy(buff, message, TEST_ERROR_MESSAGE_SIZE);\
+           strncat(buff, error_msg, TEST_ERROR_MESSAGE_SIZE);\
+           FAIL_WITH_MESSAGE((str), (buff)); \
+          }\
+        }
+
+    /**
+     * Check whether two integers are equal, or fail with a given message.
+     */
+#define ASSERT_EQUAL_FLOAT_OR_FAIL(val, expected, tol, str, message)\
+        number_of_assertions++;\
+        if (!scs_assert_equals_float((val), (expected), (tol))) {\
+           char buff[TEST_MESSAGE_BUFF_SIZE];\
+           char error_msg[TEST_ERROR_MESSAGE_SIZE];\
+           sprintf(error_msg, "\n\tExpected: %g, Actual %g (tol=%g)", expected, val, tol);\
+           strncpy(buff, message, TEST_ERROR_MESSAGE_SIZE);\
+           strncat(buff, error_msg, TEST_ERROR_MESSAGE_SIZE);\
+           FAIL_WITH_MESSAGE((str), (buff)); \
+        }
+
+    /**
+     * Check whether two arrays are equal, or fail with a given message.
+     */
+#define ASSERT_EQUAL_ARRAY_OR_FAIL(val,expected,len,tol,str,message)\
+    number_of_assertions++;\
+    if (!scs_assert_equals_array((val),(expected),(len),(tol))){\
+      FAIL_WITH_MESSAGE((str), (message));\
+    }
+
+    /**
+     * Check whether two arrays are equal, or fail with a given message.
+     */
+#define ASSERT_EQUAL_ARRAY_INT_OR_FAIL(val,expected,len,str,message)\
+    number_of_assertions++;\
+    if (!scs_assert_equals_array_int((val),(expected),(len))){\
+      FAIL_WITH_MESSAGE((str), (message));\
+    }
+
+    /**
+     * Succeed
+     */
+#define SUCCEED(str)\
+        *str = (char*) MESSAGE_OK;\
+        return TEST_SUCCESS
+
+    /**
+     * Function template defining a unit test:
+     * 
+     *  int myTestFunction(char**);
+     * 
+     * This type is a pointer to such a function which takes as an input argument 
+     * a pointer to a string (char**) and returns a status code (either #TEST_SUCCESS
+     * or #TEST_FAILURE).
+     */
+    typedef bool (*unitTest_t)(char**);
+
+
+    /**
+     * Tester function.
+     * @param ut Unit Test function handle
+     * @param name Name of the test
+     * @return #TEST_SUCCESS if the test succeeds and #TEST_FAILURE if it fails.
+     */
+    bool scs_test(const unitTest_t ut, const char* name);
+
+    /**
+     * Assert that two integers are equal.
+     * @param a
+     * @param b
+     * @return 
+     */
+    bool scs_assert_equals_int(const scs_int a, const scs_int b);
+
+    /**
+     * Assert that two floats are equal up to a given tolerance.
+     * @param a
+     * @param b
+     * @param tol tolerance
+     * @return 
+     */
+    bool scs_assert_equals_float(const scs_float a, const scs_float b, const scs_float tol);
+
+    /**
+     * Checks whether two arrays of float are equal, element-wise, up to a certain
+     * tolerance.
+     * 
+     * @param a first array
+     * @param b second array
+     * @param n length of array
+     * @param tol tolerance
+     * @return \c true is the two arrays are equal
+     */
+    bool scs_assert_equals_array(
+            const scs_float * a,
+            const scs_float * b,
+            scs_int n,
+            const scs_float tol);
+
+    /**
+     * Checks whether two arrays of float are equal, element-wise, up to a certain
+     * tolerance.
+     * 
+     * @param a first array
+     * @param b second array
+     * @param n length of array
+     * @return \c true is the two arrays are equal
+     */
+    bool scs_assert_equals_array_int(
+            const scs_int * a,
+            const scs_int * b,
+            scs_int n);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* UNITTESTS_H */